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Historical Development of Robotics

Capstone Design --- Robotics. Historical Development of Robotics. John (Jizhong) Xiao Department of Electrical Engineering City College of New York jxiao@ccny.cuny.edu. Outline. What is a Robot? Why use Robots? Robot History Robot Applications. What is a robot?.

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Historical Development of Robotics

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  1. Capstone Design --- Robotics Historical Development of Robotics John (Jizhong) Xiao Department of Electrical Engineering City College of New York jxiao@ccny.cuny.edu

  2. Outline What is a Robot? Why use Robots? Robot History Robot Applications

  3. What is a robot? • Definition: (no precise definition yet) • Webster’s Dictionary • An automatic device that performs functions ordinarily ascribed to human beings washing machine = robot? • Robotics Institute of American • A robot (industrial robot) is a reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices, through variable programmed motions for the performance of a variety of tasks.

  4. What is a robot? 3PO • Hollywood’s imagination R2-D2 Star Wars

  5. What is a robot? • By general agreement, a robot is: A programmable machine that imitates the actions or appearance of an intelligent creature–usually a human. • To qualify as a robot, a machine must be able to: 1) Sensing and perception: get information from its surroundings 2) Carry out different tasks: Locomotion or manipulation, do something physical–such as move or manipulate objects 3) Re-programmable: can do different things 4) Function autonomously and/or interact with human beings

  6. Types of Robots • Robot Manipulators • Mobile Manipulators

  7. Types of Robots • Locomotion Aerial Robots Wheeled mobile robots Legged robots Underwater robots Humanoid

  8. Mobile Robot Examples Hilare II Sojourner Rover http://www.laas.fr/~matthieu/robots/ NASA and JPL, Mars exploration

  9. Autonomous Robot Examples

  10. Why Use Robots? • Application in 4D environments • Dangerous • Dirty • Dull • Difficult • 4A tasks • Automation • Augmentation • Assistance • Autonomous

  11. Pre-History of Robots • Automata: a machine or control mechanism designed to follow automatically a predetermined sequence of operations or respond to encoded instructions

  12. Automata • Europe

  13. Automata • Asia

  14. Robot History • 1961 • George C. Devol obtains the first U.S. robot patent, No. 2,998,237. • Joe Engelberger formed Unimation and was the first to market robots • First production version Unimate industrial robot is installed in a die-casting machine • 1962 • Unimation, Inc. was formed, (Unimation stood for "Universal Automation")

  15. Robot History • The patent and industrial robot

  16. Robot History • What an industrial robot must have? • 1968 • Unimation takes its first multi-robot order from General Motors. • 1966-1972 • "Shakey," the first intelligent mobile robot system was built at Stanford Research Institute, California.

  17. Robot History • Shakey (Stanford Research Institute) • the first mobile robot to be operated using AI techniques • Simple tasks to solve: • To recognize an object using vision • Find its way to the object • Perform some action on the object (for example, to push it over) http://www.frc.ri.cmu.edu/~hpm/book98/fig.ch2/p027.html

  18. Shakey

  19. Robot History • 1969 • Robot vision, for mobile robot guidance, is demonstrated at the Stanford Research Institute. • Unimate robots assemble Chevrolet Vega automobile bodies for General Motors. • 1970 • General Motors becomes the first company to use machine vision in an industrial application The Consight system is installed at a foundry in St. Catherines, Ontario, Canada.

  20. The Stanford Cart Hans Moravec • 1973-1979 • Stanford Cart • Equipped with stereo vision. • Take pictures from several different angles • The computer gauged the distance between the cart and obstacles in its path http://www.frc.ri.cmu.edu/users/hpm/

  21. The Stanford Cart

  22. Robot History • 1978 • The first PUMA (Programmable Universal Machine for Assembly) robot is developed by Unimation for General Motors. • 1981 • IBM enters the robotics field with its 7535 and 7565 Manufacturing Systems. • 1983 • Westinghouse Electric Corporation bought Unimation, Inc., which became part of its factory automation enterprise. Westinghouse later sold Unimation to Staubli of Switzerland.

  23. Industrial Robot --- PUMA

  24. Installed Industrial Robots • Japan take the lead, why? •  Shortage of labor, high labor cost

  25. How are they used? • Industrial robots • 70% welding and painting • 20% pick and place • 10% others • Research focus on • Manipulator control • End-effector design • Compliance device • Dexterity robot hand • Visual and force feedback • Flexible automation

  26. Robot Arm Dexterity

  27. Robotics: a much bigger industry • Robot Manipulators • Assembly, automation • Field robots • Military applications • Space exploration • Service robots • Cleaning robots • Medical robots • Entertainment robots

  28. Field Robots

  29. Field Robots

  30. Service robots

  31. Service Robot Example iRobot Inc Roomba video presenting ……

  32. The early stage of AI

  33. The start of AI

  34. Autonomous and Intelligence

  35. The Honda Humanoid (1997)

  36. Humanoid

  37. Robot Applications • Manufacture Industry • Assembling • Automation • Biotechnology • Micro/Nano manipulation • Sample Handling • Automated Analysis

  38. Robot Applications • Military Applications

  39. Military Applications • DARPA Programs: • (Defense Advanced Research Projects Agency) Tactical Mobile Robotics

  40. Robot Applications • Fire Fighting, Search and Rescue

  41. Robot Applications • Space Robotics: Mars Exploration Rovers: Spirit and Opportunity --- twin robot geologists, landed on Mars: Jan 3, and Jan 24, 2004, and still alive, on Aug. 31! Website: http://marsrovers.jpl.nasa.gov/overview/ NASA/DARPA Robonaut project: a humanoid robot that can function as an astronaut equivalent for spacewalks. Human operators on earth can control the robot’s movements from distance. Website: http://vesuvius.jsc.nasa.gov/er_er/html/robonaut/robonaut.html

  42. Robot Applications • Robots for Assistive Technology

  43. Robot Applications • Entertainment Industry

  44. Robot Applications • Entertainment Robots Sony-Qrio

  45. Personal Robot? • Just as the personal computer is used for automated information management even in households, robots can be used to execute domestic tasks. • Manipulation of bits of information (PC) • Manipulation of physical objects (PR) http://www.personalrobots.com

  46. Previous Projects Video Presenting ……

  47. Architecture of Robotic Systems • Mechanical Structure • Kinematics model • Dynamics model • Actuators: Electrical, Hydraulic, Pneumatic, Artificial Muscle • Computation and controllers • Sensors • Communications • User interface • Power conversion unit Environmental sensors Motion planner Mechanical Structure Controller Configuration sensor

  48. Summary • Robotics--interdisciplinary research • Mechanical design • Computer science and engineering • Electrical engineering • Cognitive psychology, perception and neuroscience • Research open problems • Manipulation, Locomotion • Control, Navigation • Human-Robot Interaction • Learning & Adaptation (AI)

  49. Thank you, enjoy the design!

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